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On-Board Vision Using Visual-Servoing for RoboCup F-180 League Mobile Robots
Paul Lee, Tim Dean, Andrew Yap, Dariusz Walter, Les Kitchen, and Nick Barnes
Department of Computer Science and Software Engineering, The University of Melbourne, Melbourne, VIC 3010, Australiahttp://www.cs.mu.oz.au/robocup/2003/F180/publications/2002/localvis/index.php
Abstract. In the 
league competition, vision is predominantly provided by an overhead camera which relays a global view of the field. There are inherent disadvantages in utilising this system, particularly the delays associated with the capture, transmission and processing of vision data. To minimise these delays and to equip the robots with greater autonomy, visual servoing on-board the individual robots is proposed. This paper presents evaluation of two visual servoing methods for mobile robots: position-based and image-based servoing. Traditional implementations of image-based servoing have relied on partial pose estimation, negating much of the advantage gained from using this method. This paper will present an alternative implementation of image-based servoing for approaching objects on the ground plane, which disposes of the pose estimation step and fully relies only on image features. To evaluate the suitability of both visual servoing methods to 
, the task of docking with the ball is used as a basis of the investigation.
LNAI 3020, p. 422 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004